Improve accuracy of map

UbiquityRobotics / fiducials

Simultaneous localization and mapping using fiducial markers.

BSD 3-Clause "New" or "Revised" License

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Improve accuracy of map #135

Closed jim-v closed 6 years ago

jim-v commented 6 years ago

Add parameter to use fiducial area as weighting instead of reprojection error (default)
Add parameter for for scaling weights (default 1e9)
Remove compiler warnings

With the test data we have been using:

Reprojection, scale 1: residual: 0.116711 Area, scale 1: residual: 0.116711 Reprojection, scale 1e9: residual 0.072482 Area, scale 1e9: residual 0.093470

Fixes #133

jim-v commented 6 years ago

@rohbotics It passes tests now. Please review.

rohbotics commented 6 years ago

Good to merge :+1:

jim-v commented 6 years ago

This addresses #133